Questions about calibration files

[rongguodong]

I have some questions about calibrations:

1. We need to support more vehicles, and different sensor config for a same vehicle. So we need add more folders under /apollo/modules/calibration/data/, right?
2. Is each subfolder there (e.g. Lincoln2017MKZ_LGSVL) per vehicle or per config? In other words, if it is the same vehicle, but with different sensor config, should we create another subfolder or reuse it? If later, how to reuse?
3. Can we generate files in such subfolder manually? Or should they be generated automatically by some scripts? If later, how?
4. What are the meanings of files and subfolders inside each of them? Do you have documentation to explain them? What are naming conventions of these files and subfolders?
5. I see "mkz_example" has some subfolders named "xxx_conf" which did not exist in Apollo 5.0. Are they needed in 5.5? It seems "Linconln2017MKZ_LGSVL" works well without these subfolders. Why? I summary, we need to provide correct calibration files for every vehicle and every sensor configuration in our simulator. I want to understand files inside /apollo/modules/calbiration/ as much as possible, so that we know how to support it. In additional to above questions, any information regarding calibration would be very helpful. Thanks!

[diegohu]

A /apollo/modules/calibration/data/ folder is mapped to a combination of sensor config and vehicle. If you use the same vehicle but different sensor config, you need to recreate a new folder.

[rongguodong]

A /apollo/modules/calibration/data/ folder is mapped to a combination of sensor config and vehicle. If you use the same vehicle but different sensor config, you need to recreate a new folder.

That is exactly the reason why I want to understand meaning of those files and how to create new files for a new sensor config. Can you give me more details on that? Can you answer all above questions?